Microassembly based on hands free origami with bidirectional curvature

Bassik, Noy; Stern, G.; Gracias, David H.

doi:10.1063/1.3212896

Cited by 145 publications

(134 citation statements)

References 19 publications

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“…Protein and DNA folding are widely explored (Rothemund, 2006;Demaine and O'Rourke, 2007). Microassembly of origami structures has been achieved through bidirectional folds with pre-stressed layers of actuation material (Bassik et al, 2009). Polymers folding through incorparated actuation has been realized (Ryu et al, 2012;Liu et al, 2012) and elastomeric folding has been evaluated (Martinez et al, 2012).…”

Section: Folding In Other Materialsmentioning

confidence: 99%

Origami-like creases in sheet materials for compliant mechanism design

et al. 2013

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Abstract. The purpose of this research is to evaluate the creasing of non-paper sheet materials, such as plastics and metals, to facilitate origami-based compliant mechanism design. Although it is anticipated that most origami-based design will result from surrogate folds (indirect methods of replacing the crease), it is valuable to provide information that may help in more direct approaches for origami-based design in materials other than paper. Planar sheets of homogeneous material are considered as they maintain the principles fundamental to origami (flat initial state, low cost, readily available). The reduced stiffness along the axis of the crease is an enabling characteristic of origami. Hence a metric based on the deformation of the crease compared to the deformation of the panels enables engineering materials to be evaluated based on their ability to achieve the "hinge-like" behavior observed in folded paper. Advantages of both high and low values of this metric are given. Testing results (hinge indexes, residual angles, localized hinge behavior and cyclic creasing to failure) are presented for various metals and polymers. This methodology and subsequent findings are provided to enable origami-based design of compliant mechanisms.

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Section: Folding In Other Materialsmentioning

confidence: 99%

Origami-like creases in sheet materials for compliant mechanism design

et al. 2013

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“…Origami is fast becoming a technological tool. Computational origami is already a field of computer science with many practical applications [3], [5]. Computational tools are demonstrated that take a 3-D shape as input and return an appropriate crease pattern as output to generate the given shape when folded [12].…”

Section: Origami-inspired Robotsmentioning

confidence: 99%

“…by the microfabrication industry and are directly useful to pattern sheets of a wide range of materials [3]. By a transformation method between the 2-D sheets and 3-D structures, robots can be built with even higher speeds and lower costs and deployed on demand.…”

mentioning

confidence: 99%

“…Folding flat sheets into complex shapes is not a new concept, as it is the basis of origami; the traditional Japanese art. Recently, the power of origami has been discovered in the technical literature [3]- [9]. In this paper, we identify specific folding patterns that generate useful functionalities and use them as components in designing robots, as detailed in Section II.…”

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confidence: 99%

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An Origami-Inspired Approach to Worm Robots

Önal

Wood

Rus

2013

IEEE/ASME Trans. Mechatron.

312

174

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Abstract-This paper presents an origami-inspired technique which allows the application of 2-D fabrication methods to build 3-D robotic systems. The ability to design robots as origami structures introduces a fast and low-cost fabrication method to modern, real-world robotic applications. We employ laser-machined origami patterns to build a new class of robotic systems for mobility and manipulation. Origami robots use only a flat sheet as the base structure for building complicated bodies. An arbitrarily complex folding pattern can be used to yield an array of functionalities, in the form of actuated hinges or active spring elements. For actuation, we use compact NiTi coil actuators placed on the body to move parts of the structure on-demand. We demonstrate, as a proof-of-concept case study, the end-to-end fabrication and assembly of a simple mobile robot that can undergo worm-like peristaltic locomotion. 1

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“…Research in small-scale fabrication has developed a variety of self-folding mechanisms. One approach folded lithographically patterned thin films spontaneously via residual stress [14], while another folded hydrogel composites with differential swelling when exposed to water [15]. Layered composites have been shown to self-fold when exposed to a change in pH, temperature, or the addition of a solvent [16].…”

Section: Introductionmentioning

confidence: 99%

Self-folding shape memory laminates for automated fabrication

Tolley

Felton

Miyashita

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Nature regularly uses self-folding as an efficient approach to automated fabrication. In engineered systems, however, the use of self-folding has been primarily restricted to the assembly of small structures using exotic materials and/or complex infrastructures. In this paper we present three approaches to the self-folding of structures using low-cost, rapid-prototyped shape memory laminates. These structures require minimal deployment infrastructure, and are activated by light, heat, or electricity. We compare the fabrication of a fundamental structure (a cube) using each approach, and test ways to control fold angles in each case. Finally, for each self-folding approach we present a unique structure that the approach is particularly suited to fold, and discuss the advantages and disadvantages of each approach.

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Microassembly based on hands free origami with bidirectional curvature

Cited by 145 publications

References 19 publications

Origami-like creases in sheet materials for compliant mechanism design

Origami-like creases in sheet materials for compliant mechanism design

An Origami-Inspired Approach to Worm Robots

Self-folding shape memory laminates for automated fabrication

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